DE602006006322D1 - Method and device for the dynamic determination of road gradient - Google Patents

Method and device for the dynamic determination of road gradient

Info

Publication number
DE602006006322D1
DE602006006322D1 DE602006006322T DE602006006322T DE602006006322D1 DE 602006006322 D1 DE602006006322 D1 DE 602006006322D1 DE 602006006322 T DE602006006322 T DE 602006006322T DE 602006006322 T DE602006006322 T DE 602006006322T DE 602006006322 D1 DE602006006322 D1 DE 602006006322D1
Authority
DE
Germany
Prior art keywords
acc
vehicle
tot
total acceleration
component
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE602006006322T
Other languages
German (de)
Inventor
Der Molen Henk Van
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Continental Automotive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of DE602006006322D1 publication Critical patent/DE602006006322D1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/824—Travel path sensing; Track monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/70—Computer memory; Data storage, e.g. maps for adaptive control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road

Abstract

For dynamically determining a slope (TETA) of a road a total acceleration (ACC_TOT) which affects a vehicle on the road in longitudinal direction of the vehicle is measured. A first component (ACC_VEH) of the total acceleration (ACC_TOT) of the vehicle which is caused by a change of a speed of the vehicle is determinded. A second component (ACC_GRAV) of the total acceleration (ACC_TOT) of the vehicle which is caused by the gravity affecting the vehicle in longitudinal direction of the vehicle is determined dependent on the total acceleration (ACC_TOT) and dependent on the first component (ACC_VEH) of the total acceleration (ACC TOT). The slope (TETA) of the road is determined dependent on the second component (ACC_GRAV) of the total acceleration (ACC_TOT).
DE602006006322T 2006-12-07 2006-12-07 Method and device for the dynamic determination of road gradient Active DE602006006322D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP06025364A EP1930690B1 (en) 2006-12-07 2006-12-07 Method and device for dynamically determining a slope of a road

Publications (1)

Publication Number Publication Date
DE602006006322D1 true DE602006006322D1 (en) 2009-05-28

Family

ID=37692422

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602006006322T Active DE602006006322D1 (en) 2006-12-07 2006-12-07 Method and device for the dynamic determination of road gradient

Country Status (3)

Country Link
EP (1) EP1930690B1 (en)
AT (1) ATE428905T1 (en)
DE (1) DE602006006322D1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009026688A1 (en) * 2009-06-03 2010-12-09 Zf Friedrichshafen Ag Method for calibrating a tilt sensor
JP5780839B2 (en) 2011-06-03 2015-09-16 株式会社小糸製作所 Vehicle lamp control device and vehicle lamp system
US20160001695A1 (en) * 2014-07-03 2016-01-07 Memsic, Inc. Method and apparatus for determining the inclination of a moving vehicle with respect to the road and for performing dynamic headlight leveling
CN104590272B (en) * 2014-12-23 2017-04-12 安徽江淮汽车集团股份有限公司 Method and system for detecting ramp state of vehicle
CN105116167A (en) * 2015-09-10 2015-12-02 深圳威易森科技有限公司 Acceleration determination method for motor vehicle running on slope plane
DE102017211376A1 (en) * 2017-07-04 2019-01-10 Zf Friedrichshafen Ag Method and control device for determining an inclination of a vehicle in the direction of travel
US20220041167A1 (en) * 2018-10-10 2022-02-10 Sony Corporation Information processing apparatus, mobile apparatus, method, and program
CN110409264B (en) * 2019-07-29 2021-05-07 中煤第三建设（集团）有限责任公司 Equipment for detecting road surface inclination angle by paving road bridge
WO2022165638A1 (en) * 2021-02-02 2022-08-11 浙江吉利控股集团有限公司 Method, apparatus, and system for controlling engine, and vehicle

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3933652A1 (en) * 1989-10-09 1991-04-11 Bosch Gmbh Robert ANTI-BLOCKING CONTROL SYSTEM AND DRIVE-SLIP CONTROL SYSTEM
JP3485239B2 (en) * 1997-09-10 2004-01-13 富士重工業株式会社 Vehicle motion control device
DE10154341A1 (en) * 2001-11-06 2003-05-15 Volkswagen Ag Method and device for determining a geometric inclination of a motor vehicle
FR2857925B1 (en) * 2003-07-22 2005-09-30 Delphi Tech Inc METHOD OF ESTIMATING THE SLOPE OF A SURFACE ON WHICH IS A MOTOR VEHICLE

Also Published As

Publication number Publication date
EP1930690A1 (en) 2008-06-11
EP1930690B1 (en) 2009-04-15
ATE428905T1 (en) 2009-05-15

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